Programming Manual - Logix5000 Controllers IEC 61131-3 Compliance - 1756-PM018B-En-P - July 2008

Logix5000 Controllers IEC 61131-3
Compliance
Programming Manual
Catalog Numbers 1756
ControlLogix, 1769 CompactLogix,
1789 SoftLogix, 1794 FlexLogix,
PowerFlex 700S with DriveLogix
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Table of Contents
Preface
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

How to Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
IEC61131-3 Compliance
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Operating System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Data Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Programming Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
IEC61131-3 Program Portability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
IEC Compliance Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3Publication 1756-PM018B-EN-P - July 2008
Table of Contents
Publication 1756-PM018B-EN-P - July 2008
Preface
Purpose of this Manual
This manual explains the series of specifications developed by the

International Electrotechnical Commission (IEC) for programmable
controllers and how to use them with your Logix5000 controller and
programming software.
This manual is one of a set of related manuals that show common procedures
for programming and operating Logix5000 controllers. For a complete list of
common procedures manuals, see the Logix 5000 Controllers Common
Procedures Programming Manual, publication 1756-PM001.
The term Logix5000 controller refers to any controller that is based on the
Logix5000 operating system, such as:
CompactLogix controllers
ControlLogix controllers
DriveLogix controllers
FlexLogix controllers
SoftLogix5800 controllers
How to Use this Manual
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the actual name of an item that you Right-click User-Defined

see on your screen or in an example
Right-click the item that is named

User-Defined.
courier
information that you must supply

based on your application (a
variable)
Right-click
name_of_program
You must identify the specific program in

your application. Typically, it is a name or
variable that you have defined.
Press [Enter].
Press the Enter key.
enclosed in brackets a keyboard key
For example
Means
Preface
Notes:
Chapter
Introduction
The International Electrotechnical Commission (IEC) has developed a series

of specifications for programmable controllers. These specifications are
intended to promote international unification of equipment and programming
languages for use in the controls industry. These standards provide the
foundation for Logix5000 controllers and RSLogix 5000 programming
software.
The IEC programmable controller specification is broken down into five
separate parts each focusing on a different aspect of the control system:
Part 1: General Information

Part 2: Equipment and Requirements Test
Part 3: Programming Languages
Part 4: User Guidelines
Part 5: Messaging Service Specification
The controls industry as a whole has focused on part 3 (IEC61131-3),

Programming Languages, because it provides the cornerstone for
implementing the other standards and provides the most significant end user
benefit by reducing training cost. Because of this, only IEC61131-3 is
addressed here.
The IEC61131-3 programming language specification addresses numerous
aspects of programmable controller including the operating system execution,
data definitions, programming languages, and instruction set. Components of
the IEC61131-3 specification are categorized as required by the specification,
optional or extensions. By so doing, the IEC61131-3 specification provides a
minimum set of functionality that can be extended to meet end user
application needs. The downside of this approach is that each programmable
control system vendor may implement different components of the
specification or provide different extensions.
Chapter 1
Operating System
The preemptive, multitasking operating system (OS) of Logix5000 controllers

complies with the IEC61131-3 definition. In IEC61131-3, the programmable
controllers OS can contain zero or more tasks, that can execute one or more
programs each containing one or more functions or routines. According to
IEC61131-3, the number of each of these components is implementation
dependent. Logix5000 controllers provide multiple tasks, each containing
multiple programs and an unlimited number of functions or routines.
IEC61131-3 provides an option for creating different task execution
classifications. Tasks may be configured as continuous, periodic, or event
based. A continuous task does not need to be scheduled in that it will utilize
any left over processing time when other tasks are dormant. Periodic tasks are
scheduled to operate based on a reoccurring time period. The IEC61131-3
specification does not specify a time base for periodic task configuration. An
IEC61131-3 event based task is triggered upon detection of the rising edge of
a configured input. Logix5000 controllers support both continuous and
periodic tasks. Additionally, the period for a periodic task is configurable
starting as low as 1 millisecond (ms).
Data Definitions
The IEC61131-3 specification provides access to memory through the

creation of named variables. IEC61131-3 names for variables consist of a
minimum of six characters (RSLogix5000 programming software supports a
minimum of 1 character) starting with an underscore _ or an alpha character
(A-Z), followed by one or more characters consisting of an underscore _,
alpha character (A-Z) or a number (0-9). Optionally, lower case alpha
characters (a-z) can be supported as long as they are case insensitive (A = a,
B = b, C = c ). Logix5000 controllers provide full compliance with this
definition, support the lower case option, and extend the name to support up
to 40 character names.
Data variables in IEC61131-3 may be defined such that they are accessible to
all programs within a resource or controller, or limited access is provided only
to the functions or routines within a single program. To pass data between
multiple resources or controllers, access paths may be configured to define the
location of the data within a system. Logix5000 controllers provide compliance
by providing program scoped, controller scoped data and permits the
configuration of access paths using produced/consumed data.
The memory interpretation of a variable within IEC61131-3 is defined
through the use of either an elementary data type or an optional derived data
type that is created from a group of multiple data types. Logix5000 controllers
support the use of the BOOL (1 bit), SINT (8 bit integer), INT (16 bit
integer), DINT (32 bit integer) and REAL (IEEE floating point number)
elementary data types. Additionally, the optional derived data types are
supported through the creation of user defined structures and arrays.
Programming Languages
Chapter 1
The IEC61131-3 specification defines five (5) different programming

languages and a set of common elements. All languages are defined as optional
but at least one must be supported in order to claim compliance with the
specification. The IEC61131-3 programming language components are
defined as follows:
Common Language Elements

Common Graphical Elements
Instruction List (IL) Language Elements
Structured Text Language (ST) Elements
Ladder Diagram (LD) Language Elements
Sequential Function Chart (SFC) Language Elements
Function Block Diagram (FBD) Language Elements
Logix5000 controllers and RSLogix5000 provide support for the common

language elements and the Structured Text, Ladder Diagram, Sequential
Function Chart, and Function Block Diagram language options. Additionally,
the environment utilizes an ASCII import/export format based on the
Structured Text language. The instruction set and program file exchange
features are discussed in detail in the sections that follow.
Instruction Set
The instruction set specified by IEC61131-3 is entirely optional. The

specification lists a limited set of instructions that if implemented must
conform to the stated execution and visual representation. IEC61131-3
however, does not limit the instructions set to those listed within the
specification. Each PLC vendor is free to implement additional functionality in
the form of instructions over and above those listed by the specification.
Examples of such extended instructions are those needed to perform
diagnostics, PID loop control, motion control and data file manipulation.
Because extended instructions are not defined by the IEC61131-3
specification, there is no guarantee that the implementation between different
PLC vendors will be compatible. Thus utilization of these instructions may
preclude the movement of logic between vendors.
Logix5000 controllers and RSLogix5000 provide a suite of instructions that
execute as defined by the IEC61131-3 specification. The physical
representation of these instructions maintain their look and feel with existing
systems so as to reduce the training cost associated with working with the
environment. In addition to the IEC61131-3 compliant instructions, a full
range of instructions from existing products have been brought forward into
the environment so that no functionality is lost.
IEC61131-3 Program
Portability
One of the goals of end-users creating programs in an IEC61131-3 compliant

environment is the movement or portability of programs between controllers
developed by different vendors. This area is a weakness of IEC61131-3
9
Chapter 1
because no file exchange format is defined by the specification. This means

that if any program created in one vendor's environment will require
manipulation to move it to another vendor's system.
In order to minimize the effort involved in performing cross-vendor
portability, the RSLogix 5000 programming software for the controllers
includes a full ASCII export and import utility. Additionally, the file format
that is utilized by this tool is based on a hybrid of the IEC61131-3 Structured
Text language definition. Controller operating system and data definitions
follow the appropriate IEC61131-3 formats. Extensions were implemented in
order to convert Ladder Diagram logic into ASCII text since this is not
defined by IEC61131-3.
For more information on the ASCII export and import utility of RSLogix
5000 programming software, see the Logix5000 Controllers Import/Export
Reference Manual, publication 1756-RM084.
10
IEC Compliance Tables
Chapter 1
Logix5000 controllers and RSLogix5000 comply with the requirements of

IEC61131-3 for the following language features:
Table
Number:(1)
Feature
Number:
Feature Description:
Extensions and Implementation Notes:
Lower case letters
none
3a
Number sign (#)
Used for immediate value data type designation
4a
Dollar sign ($)
Used for description and string control

character
6a
Subscript delimiters ([ ])
Array subscripts
Identifiers using upper case and numbers
Task, program, routine, structure and tag names
Identifiers using upper case, numbers, and

embedded underlines
Identifiers using upper and lower case,

numbers and embedded underlines
Comments
ST Comments, also support /* Comment */, and

// End of line comments.
Integer literal
12, 0, -12
Real literal
12.5, -12.5
Real literal with exponents
-1.34E-12, 1.234E6
Base 2 literal
2#0101_0101
Base 8 literal
8#377
Base 16 literal
16#FFE0
Boolean zero and one
0, 1
1A
Empty String ''
Descriptions, and String Editor
1B
String of length one containing a character 'A'
1C
String of length one containing a space ' '
1D
String of length one containing a single quote

character '$''
1E
String of length one containing a double quote

character '"'
1F
String of length two containing CR and LF

characters
1G
String of length one containing the LF character

'$0A'
1H
String of length 5 which would print as "$1.00"

using '$$1.00'
1I
Equivalent strings of length two 'AE', and

'$C4$CB'
String dollar sign '$$'
String single quote '$''
String Line Feed '$L' or '$l'
11
Chapter 1
Table
Number:(1)
Feature
Number:
String New-line '$N' or '$n'
String From Feed (page) '$P' or '$p'
String Carriage return '$R' or '$r'
String Tab '$T' or '$t'
String double quote $"
10
BOOL Data Type
Tag variable definition
10
SINT Data Type
10
INT Data Type
10
DINT Data Type
10
10
REAL Data Type
10
12
Time
Tag variable definition, TIMER Structure
10
16
STRING data type
8 Bits
11
Data type Hierarchy
none
12
Direct Derivation from elementary types
User Defined data type structures
12
Array data types
12
Structured Data types
User defined data type structures
13
BOOL, SINT, INT, DINT initial value of 0
13
REAL, LREAL initial value of 0.0
13
Time initial value of T#0s
Tag variable definition, reset (RES) instruction
13
Empty String ''
Descriptions and Strings
14
Initialization of directly derived types
Import/export
14
Initialization of array data types
Import/export
14
Initialization of structured type elements
Import/export
14
Initialization of derived structured data types
Import/export
19a
2a
Textual invocation, non-formal
Available in ST
20
Use of EN and ENO
Function present in LD but not labeled.

Available in FBD.
20
Usage without EN and ENO
Available in FBD
20
Usage with EN and without ENO
Available in FBD
20
Usage without EN and with ENO
Available in FBD
21
Overloaded functions ADD(INT, DINT) or

ADD(DINT, REAL)
All overloaded types that are supported are

documented with each instruction
22
_TO_ conversion function
RAD, DEG instructions Radians to/from

Decimal. String numeric conversion STOD,
STOR, RTOS, DTOS. Others not needed because
of instruction overloading
22
Truncate conversion function
TRN instruction in LD and TRUNC function in ST
22
BCD to INT Convert
FRD instruction in LD
12
Chapter 1
Table
Number:(1)
Feature
Number:
22
INT to BCD Convert
TOD instruction in LD
23
Absolute value
ABS instruction
23
Square root
SQR instruction in LD and FBD and SQRT

function in ST.
23
Natural log
LN instruction
23
Log base 10
LOG instruction
23
Sine in radians
SIN instruction / function
23
Cosine in radians
COS instruction / function
23
Tangent in radians
TAN instruction / function
23
Principal arc sine
ASN instruction in LD and FBD, and ASIN

function in ST
23
10
Principal arc cosine
ACS instruction in LD and FBD, and ACOS

function in ST
23
11
Principal arc tangent
ATN instruction in LD and FBD, and ATAN

function in ST
24
12
Arithmetic add
ADD instruction in LD and FBD, and + in ST.
24
13
Arithmetic multiplication
MUL instruction in LD and FBD, and * in ST.
24
14
Arithmetic subtraction
SUB instruction in LD and FBD, and - in ST.
24
15
Arithmetic divide
DIV instruction in LD and FBD, and / in ST.
24
16
Modulo
MOD instruction LD and ST
24
17
Exponentiation
XPY instruction in LD and FBD, and ** in ST.
24
18
Value move
MOV instruction in LD, and := in ST.
25
Bit shift left
Functionality contained in BSL instruction in LD

for shift of 1
25
Bit shift right
Functionality contained in BSR instruction in LD

for shift of 1
25
Bit rotate left
Functionality contained in BSL instruction in LD

for shift of 1
25
Bit rotate right
Functionality contained in BSR instruction in LD

for shift of 1
26
AND
BAND instruction in FBD, and "&" operator in

ST
26
OR
BOR instruction in FBD
26
XOR
BXOR instruction in FBD
26
NOT
BNOT instruction in FBD
27
SELECT
SEL instruction in FBD
27
2a
Maximum select MAX
Functionality contained in ESEL instruction in

FBD and ST
27
2b
Minimum select MIN
Functionality contained in ESEL instruction in

FBD and ST
13
Chapter 1
Table
Number:(1)
Feature
Number:
27
High/Low limit LIMIT
HLL instruction in FBD and ST
27
Multiplexer MUX
MUX instruction in FBD
28
Comparison greater-than
GRT instruction in LD and FBD, and > in ST.
28
Comparison greater-than or equal
GRE instruction in LD and FBD, and >= in ST.
28
Comparison equal
EQU instruction in LD and FBD, and = in ST.
28
Comparison less-than
LES instruction in LD and FBD, and < in ST.
28
Comparison less-than or equal
LEQ instruction in LD and FBD, and <= in ST.
28
10
Comparison not equal
NEQ instruction in LD and FBD, and <> in ST.
29
String length LEN
Contained as Parameter of STRING data type
29
Middle string MID
MID instruction in LD and ST
29
String concatenation CONCAT
CONCAT instruction in LD and ST
29
String insert INSERT
INSERT instruction in LD and ST
29
String delete DELETE
DELETE instruction in LD and ST
29
Find string FIND
FIND instruction in LD and ST
32
Input read
FBD and ST
32
Input write
FBD and ST
32
Output read
FBD and ST
32
Output write
FBD and ST
34
Bistable set dominant
SETD instruction in FBD and ST
34
Bistable reset dominant
RESD instruction in FBD and ST
35
Rising edge detector
OSR instruction in LD and OSRI instruction in

FBD and ST
35
Falling edge detector
OSF instruction in LD and OSFI instruction in

FBD and ST
36
1b
Up-counter
Functionality contained in CTU and RES

instructions in LD and in CTUD instruction in
FBD and ST
37
2a
On-delay timer
Functionality contained in TON instruction in LD

and TONR instruction in FBD and ST
37
3a
Off-delay timer
Functionality contained in TOF instruction in LD

and TOFR instruction in FBD and ST
38
On-delay timing
Functionality contained in TON instruction in LD

and TONR instruction in FBD and ST
38
Off-delay timing
Functionality contained in TOF instruction in LD

and TOFR instruction in FBD and ST
40
1a
SFC Step
40
1b
SFC initial Step
40
2a
SFC Step Textual
14
Import/export, step name is specified using the

format "Operand := step_name"
Chapter 1
Table
Number:(1)
Feature
Number:
40
2b
SFC initial Step textual
Import/export, uses "InitialStep" Parameter and

step name is specified using the format
"Operand := step_name"
40
3a
SFC Step Flag general form
Step backing tag
40
Step elapsed time general form
Step backing tag
41
Transition using ST
41
Transition textual form
Import/export with different formatting
41
Transition Name
Transition Backing Tag
41
7a
Transition Set by LD
41
7b
Transition Set by FBD
41
7d
Transition Set by ST
42
Action Boolean
Action Backing tag
42
3s
Action textual representation
Import/export
43
Step Action association
43
Step with Concatenated Actions
43
Textual Step body
Import/export with different formatting
43
Action Body Field
Embedded ST
44
Action Block Qualifier
44
Action Block Name
44
Action Indicator Tag
Extended this to support DINT, INT, SINT, or

REAL in addition to BOOL
44
Action using ST
Supports both embedded ST and JSR to ST

routine
44
Action using LD
Using JSR to LD routine
44
Action using FBD
Using JSR to FBD Routine
45
Action Qualifier None
Default is N when none is explicitly entered
45
Action Qualifier N - Non-stored
45
Action Qualifier R - Reset
45
Action Qualifier S - Set / Stored
45
Action Qualifier L - Time Limited
45
Action Qualifier D - Time Delayed
45
Action Qualifier P - Pulse
45
Action Qualifier SD - Stored and Time Delayed
45
Action Qualifier DS - Delayed and Stored
45
10
Action Qualifier SL - Stored and time limited
45
11
Action Qualifier P1 - Pulse Rising Edge
45
12
Action Qualifier P0 - Pulse Falling Edge
15
Chapter 1
Table
Number:(1)
Feature
Number:
45a
Action Control
45a
Action Control
46
SFC Single Sequence
46
2a
SFC Divergence of sequence selection
46
2b
SFC Divergence of sequence selection with

execution order.
46
SFC Convergence of sequence selection
46
4a
SFC Simultaneous sequence divergence
46
4b
SFC Simultaneous sequence convergence
46
5a, b, c
SFC Sequence Skip
46
6a, b, c
SFC Sequence Loop
46
SFC Loop directional arrows
47
SFC Graphical representation
47
SFC Graphical representation
48
SFC Minimal Step Compliance Requirements
Refer to notes on individual tables above.
48
SFC Minimal Transition Compliance

Requirements
48
SFC Minimal Action Compliance Requirements
48
SFC Minimal Action Body Compliance

Requirements
48
SFC Minimal Action Qualifier Compliance

Requirements
48
SFC Minimal Branch Compliance Requirements
48
SFC Minimal Block Connection Compliance

Requirements
55
ST Parenthesization (expression)
55
ST Function Evaluation
55
ST Exponentiation **
55
ST Negation -
55
ST Negation NOT
55
ST Multiply *
55
ST Divide /
55
ST Modulo MOD
55
ST Add +
55
10
ST Subtract -
55
11
ST Comparison <, >, <=, >=
16
Use of line connections vs. asterisk
When wire is hidden
Using non-formal form of invocation for built in

functions. JSR used within ST language to call
user developed code.
Table
Number:(1)
Feature
Number:
55
12
ST Equality =
55
13
ST Inequality <>
55
14
ST Boolean AND as &
55
15
ST Boolean AND
55
16
ST Boolean XOR
55
17
ST Boolean OR
56
ST Assignment :=
56
ST Function Block invocation
56
ST RETURN
56
ST IF / ELSIF / ELSE/ END_IF
56
ST CASE OF / ELSE / END_CASE
56
ST FOR / END_FOR
56
ST WHILE DO / END_WHILE
56
ST REPEATE / UNTIL / END_REPEAT
56
ST EXIT
56
10
ST Empty Statement ;
57
1, 2
Horizontal line
LD editor, FBD editor
57
3, 4
Vertical line
57
5, 6
Horizontal / Vertical connection
57
7, 8
Line crossings without connection
FBD editor
57
9, 10
Connection and non-connection corners
57
11, 12
Blocks with connections
57
13,14
Connectors
FBD editor
58
Unconditional jump
JMP instruction in LD
58
Jump target
LBL instruction in LD
58
Conditional jump
JMP instruction in LD
58
Conditional return
RET instruction in LD
58
Unconditional return
RET instruction in LD
59
Left hand power rail
LD editor
59
Right hand power rail
LD editor
60
Horizontal link
LD editor
60
Vertical link
LD editor
61
1, 2
Normally open contact --| |--
XIC instruction in LD
61
3, 4
Normally close contact --| / |--
XIO instruction in LD
61
5, 6
Positive transition sensing contact -| P |-
ONS instruction in LD
62
Coil --( )--
OTE instruction in LD
Chapter 1
RET( ) with multiple Parameters
17
Chapter 1
Table
Number:(1)
Feature
Number:
62
Set (latch) coil
Functionality contained in OTL instruction in LD
62
Reset (unlatch) coil
Functionality contained in OTU instruction in LD
62
Positive transition sensing coil
OSR instruction in LD
62
Negative transition sensing coil
OSF instruction in LD
(1)
18
Table associated with languages other than Structured Text, sequential function chart, Ladder diagram and Function Block diagram have been skipped.
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Publication 1756-PM018B-EN-P - July 2008 20

Supersedes Publication 1756-PM018A-EN-P - July 2007
Copyright 2008 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

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Logix5000 Controllers IEC 61131-3

Important User Information

Identifies information about practices or circumstances that can cause an explosion in a

Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

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Publication 1756-PM018B-EN-P - July 2008

Purpose of this Manual

This manual explains the series of specifications developed by the

How to Use this Manual

Some text is formatted differently from the rest of the text.

the actual name of an item that you Right-click User-Defined

Right-click the item that is named

information that you must supply

You must identify the specific program in

Press the Enter key.

enclosed in brackets a keyboard key

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Publication 1756-PM018B-EN-P - July 2008

The International Electrotechnical Commission (IEC) has developed a series

Part 1: General Information

The controls industry as a whole has focused on part 3 (IEC61131-3),

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The preemptive, multitasking operating system (OS) of Logix5000 controllers

The IEC61131-3 specification provides access to memory through the

Publication 1756-PM018B-EN-P - July 2008

The IEC61131-3 specification defines five (5) different programming

Common Language Elements

Logix5000 controllers and RSLogix5000 provide support for the common

The instruction set specified by IEC61131-3 is entirely optional. The

One of the goals of end-users creating programs in an IEC61131-3 compliant

because no file exchange format is defined by the specification. This means

Publication 1756-PM018B-EN-P - July 2008

IEC Compliance Tables

Logix5000 controllers and RSLogix5000 comply with the requirements of

Extensions and Implementation Notes:

Lower case letters

Number sign (#)

Used for immediate value data type designation

Dollar sign ($)

Used for description and string control

Identifiers using upper case and numbers

Task, program, routine, structure and tag names

Identifiers using upper case, numbers, and

Task, program, routine, structure and tag names

Identifiers using upper and lower case,

Task, program, routine, structure and tag names

ST Comments, also support /* Comment */, and

Real literal with exponents

Boolean zero and one

Empty String ''

Descriptions, and String Editor

String of length one containing a character 'A'

Descriptions, and String Editor

String of length one containing a space ' '

Descriptions, and String Editor

String of length one containing a single quote

Descriptions, and String Editor

String of length one containing a double quote

Descriptions, and String Editor

String of length two containing CR and LF

Descriptions, and String Editor

String of length one containing the LF character

Descriptions, and String Editor

String of length 5 which would print as "$1.00"